Swap naming order of transformation matrices
Jim pointed out that by swapping the convention we could get easier to
read code.
Change-Id: Id81b56c3a6fd17e7d538a99f285fb2c4079fa442
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index 3be86da..acab856 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -228,26 +228,27 @@
drivetrain_plant_.state()(2, 0));
std::unique_ptr<ImageMatchResultT> frame(new ImageMatchResultT());
- for (const auto &H_target_field : TargetLocations()) {
+ for (const auto &H_field_target : TargetLocations()) {
std::unique_ptr<CameraPoseT> camera_target(new CameraPoseT());
camera_target->field_to_target.reset(new TransformationMatrixT());
- camera_target->field_to_target->data = MatrixToVector(H_target_field);
+ camera_target->field_to_target->data = MatrixToVector(H_field_target);
- Eigen::Matrix<double, 4, 4> H_camera_turret =
+ Eigen::Matrix<double, 4, 4> H_turret_camera =
Eigen::Matrix<double, 4, 4>::Identity();
if (is_turreted_) {
- H_camera_turret = frc971::control_loops::TransformationMatrixForYaw(
+ H_turret_camera = frc971::control_loops::TransformationMatrixForYaw(
turret_position_) *
CameraTurretTransformation();
}
// TODO(james): Use non-zero turret angles.
camera_target->camera_to_target.reset(new TransformationMatrixT());
- camera_target->camera_to_target->data = MatrixToVector(
- (robot_pose.AsTransformationMatrix() * TurretRobotTransformation() *
- H_camera_turret).inverse() *
- H_target_field);
+ camera_target->camera_to_target->data =
+ MatrixToVector((robot_pose.AsTransformationMatrix() *
+ TurretRobotTransformation() * H_turret_camera)
+ .inverse() *
+ H_field_target);
frame->camera_poses.emplace_back(std::move(camera_target));
}
@@ -260,17 +261,17 @@
{
frame->camera_calibration->fixed_extrinsics.reset(
new TransformationMatrixT());
- TransformationMatrixT *H_turret_robot =
+ TransformationMatrixT *H_robot_turret =
frame->camera_calibration->fixed_extrinsics.get();
- H_turret_robot->data = MatrixToVector(TurretRobotTransformation());
+ H_robot_turret->data = MatrixToVector(TurretRobotTransformation());
}
if (is_turreted_) {
frame->camera_calibration->turret_extrinsics.reset(
new TransformationMatrixT());
- TransformationMatrixT *H_camera_turret =
+ TransformationMatrixT *H_turret_camera =
frame->camera_calibration->turret_extrinsics.get();
- H_camera_turret->data = MatrixToVector(CameraTurretTransformation());
+ H_turret_camera->data = MatrixToVector(CameraTurretTransformation());
}
camera_delay_queue_.emplace(monotonic_now(), std::move(frame));